Time Optimal Trajectories for a Mobile Robot Under Nonsliding and Radius-of-Turn Constraints

dc.contributor.author	Ben-Asher, Joseph Z.
dc.contributor.author	Wetzler, Michael
dc.contributor.author	Rimon, Elon D.
dc.date.accessioned	2022-02-04T14:12:29Z
dc.date.available	2022-02-04T14:12:29Z
dc.date.copyright	2020/03/05/
dc.date.issued	2020
dc.identifier.issn	0022-0434
dc.identifier.other	ds_142_06_061007.pdf
dc.identifier.uri	http://yetl.yabesh.ir/yetl1/handle/yetl/4273184
dc.description.abstract	The time-optimal path problem for a point mass mobile robot is considered. Given initial and target states, we seek the time optimal path subject to the following constraints: (1) A limitation on its maximal linear acceleration; (2) a speed-dependent nonsliding condition; and (3) a minimal radius of turn. The paper formulates and analyzes the time optimal path problem using standard optimal control formulation with extensive use of the classical Hodograph method. Based on the analysis, the time optimal path consists of five path primitives. Numerical solutions are obtained to support and illustrate the analysis.
dc.publisher	The American Society of Mechanical Engineers (ASME)
dc.title	Time Optimal Trajectories for a Mobile Robot Under Nonsliding and Radius-of-Turn Constraints
dc.type	Journal Paper
dc.journal.volume	142
dc.journal.issue	6
dc.journal.title	Journal of Dynamic Systems, Measurement, and Control
dc.identifier.doi	10.1115/1.4046331
dc.page	61007
dc.tree	Journal of Dynamic Systems, Measurement, and Control:;2020:;volume( 142 ):;issue: 006
dc.contenttype	Fulltext